相关论文: Action-Free Reasoning for Policy Generalization

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

We introduce Latent Action Pretraining for general Action models (LAPA), an unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot action labels. Existing Vision-Language-Action models require…

Offline reinforcement learning (RL) enables agents to learn policies from fixed datasets, avoiding costly or unsafe environment interactions. However, its effectiveness is often limited by dataset sparsity and the lack of transition overlap…

Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For…

Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment…

Future robots are envisioned as versatile systems capable of performing a variety of household tasks. The big question remains, how can we bridge the embodiment gap while minimizing physical robot learning, which fundamentally does not…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

When robots interact with humans in homes, roads, or factories the human's behavior often changes in response to the robot. Non-stationary humans are challenging for robot learners: actions the robot has learned to coordinate with the…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

We need to trust robots that use often opaque AI methods. They need to explain themselves to us, and we need to trust their explanation. In this regard, explainability plays a critical role in trustworthy autonomous decision-making to…

Human actions manipulating articulated objects, such as opening and closing a drawer, can be categorized into multiple modalities we define as interaction modes. Traditional robot learning approaches lack discrete representations of these…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, invoking LLM reasoning introduces…

Existing research studies on vision and language grounding for robot navigation focus on improving model-free deep reinforcement learning (DRL) models in synthetic environments. However, model-free DRL models do not consider the dynamics in…

Agentic Reinforcement Learning (ARL) trains large language models to interleave reasoning with external tool execution to solve complex tasks. Most existing ARL methods train a single set of parameters to support both reasoning and tool-use…

Being able to simulate the outcomes of actions in varied environments will revolutionize the development of generalist agents at scale. However, modeling these world dynamics, especially for dexterous robotics tasks, poses significant…

A central challenge towards developing robots that can relate human language to their perception and actions is the scarcity of natural language annotations in diverse robot datasets. Moreover, robot policies that follow natural language…

Our goal is to enable robots to perform functional tasks in emotive ways, be it in response to their users' emotional states, or expressive of their confidence levels. Prior work has proposed learning independent cost functions from user…

Test-time scaling has emerged as an effective way to improve language models on challenging reasoning tasks. However, most existing methods treat each problem in isolation and do not systematically reuse knowledge from prior reasoning…